Obstacle detection device of autonomous mobile system

ABSTRACT

The present invention relates to an obstacle detection device, adapted for an autonomous mobile system, which comprises: a conducting wire, a first unit and a second unit. The first unit further comprises a first conducting part, electrically connected to an end of the conducting wire; and the second unit further comprises a second conducting part, electrically connected to another end of the conducting wire other than that connecting to the first conducting part. As an abnormality, such as the autonomous mobile system comes into contact with an obstacle, or misses a step, is happening and detected by the obstacle detection device, a reactive force will be generated to force the two conducting parts to contact with each other so as to enable an electrical conduction for issuing an electrical signal to the control unit of the autonomous mobile system and thus enabling the autonomous mobile system to react with respect to the abnormality.

RELATED APPLICATIONS

This application is a continuation-in-part of U.S. Ser. No. 11/537,660,filed on Oct. 2, 2006, entitled “Obstacle detection device of automaticmobile system” and currently pending.

FIELD OF THE INVENTION

The present invention relates to an obstacle detection device forautonomous mobile system, and more particular, to an obstacle detectiondevice capable of detecting an abnormality of an autonomous mobilesystem, such as the mobile system is colliding with an object or missinga step, by the detection of whether the electrical conduction betweentwo conducting parts of the autonomous mobile system is enabled or not.

BACKGROUND OF THE INVENTION

With rapid advance of technology, most of the common householdappliances are equipped with automation and intelligent controlabilities. Among all those intelligent automated household appliances,an intelligent robot vacuum cleaner may be one of the householdappliances most treasured by modern people, since it can clean one'shome by itself and thus free a person from miscellaneous and dailycleaning obligations.

Please refer to FIG. 1, which is a schematic diagram showing a roboticvacuum cleaner disclosed in TW Pat. No. 1220383. The robotic vacuumcleaner 1 of FIG. 1 uses a linkage mechanism to detect and determinewhether the robotic vacuum cleaner 1 is coming into contact with anobstacle. However, as the structure of the linkage mechanism is verycomplicated, the process for manufacturing the robotic vacuum cleaner 1can be minute and complicated.

Please refer to FIG. 2, which is a schematic diagram showing anautonomous cleaning robot, disclosed in U.S. Pub. No. 20050251292. Thean autonomous cleaning robot 2 of FIG. 2 utilizes a synchronousdetection scheme realized by a plurality of infrared sensors 21 forpreventing the cleaning robot 2 from being blocked by furniture orfalling off a stair. However, as the amounts of infrared reflected byobstacles made of different materials are different, a huge databasemust be built to assist a logistic control program so as to ensure thecleaning robot to have a low-cost, accurate detection ability.

Therefore, it is in need of an obstacle detection device for autonomousmobile system that can overcome the aforesaid shortcomings.

SUMMARY OF THE INVENTION

The primary object of the present invention is to provide an obstacledetection device capable of detecting an abnormality of an autonomousmobile system, such as the mobile system is colliding with an object ormissing a step, by the detection of whether the electrical conductionbetween two conducting parts of the autonomous mobile system is enabledor not.

To achieve the above object, the present invention provides an obstacledetection device, adapted for detecting abnormalities of an autonomousmobile system, which comprises: a conducting wire, a first unit and asecond unit; wherein, the first unit further comprises a firstconducting part, electrically connected to an end of the conductingwire; the second unit further comprises a second conducting part,electrically connected to another end of the conducting wire other thanthat connecting to the first conducting part. As an abnormality, such asthe autonomous mobile system comes into contact with an obstacle, ormisses a step, is happening and detected by the obstacle detectiondevice, a reactive force will be generated to force the two conductingparts to contact with each other so as to enable an electricalconduction for issuing an electrical signal to the control unit of theautonomous mobile system and thus enabling the autonomous mobile systemto react with respect to the abnormality.

Preferably, a voltage source and a resistor are connected to theconducting wire.

Preferably, the reaction performed by the autonomous mobile system canbe one of the following actions: stopping the moving of the autonomousmobile system, enabling the autonomous mobile system to turn and head ina random direction, and the like.

In addition, to achieve the above object, the present invention providesanother obstacle detection device, adapted for detecting whether anautonomous mobile system is colliding with an obstacle, which comprises:a conducting wire, a pin and a conducting plate; wherein the pin, beingarranged on a front bumper of the autonomous mobile system, furthercomprises a first conducting part, electrically connected to an end ofthe conducting wire; the conducting plate, being arranged on a base ofthe autonomous mobile system, further comprises a second conductingpart, electrically connected to another end of the conducting wire otherthan that connecting to the first conducting part. As the autonomousmobile system collides with the obstacle, a reactive force will begenerated to force the front bumper to press the pin while causing thetwo conducting parts to contact with each other so as to enable anelectrical conduction for issuing an electrical signal to the controlunit of the autonomous mobile system and thus enabling the autonomousmobile system to react with respect to the collision.

Preferably, a pin bearer, having a pin hole boring therethrough forreceiving the pin, is arranged at a position between the pin and theconducting plate, whereas the first conducting part of the pin isenabled to move reciprocatively inside the pin hole while the pin isinserted into the pin hole, and the second conducting part of the baseis aligned to the pin hole for enabling the first conducting part can bemoved to come into contact with the second conducting part.

Preferably, a voltage source and a resistor are connected to theconducting wire.

Preferably, a spring is arranged between the pin and the conductingplate in a manner that the elastic force of the spring can be used forenabling the pin to move reciprocatively, whereas the spring can be anarticle selected from the group consisting of a compression spring, atension spring, a plate spring, and a torsion spring.

Preferably, the reaction performed by the autonomous mobile system canbe one of the following actions: stopping the moving of the autonomousmobile system, enabling the autonomous mobile system to turn and head ina random direction, and the like.

Moreover, to achieve the above object, the present invention providesfurther another obstacle detection device, adapted for detecting whetheran autonomous mobile system is colliding with an obstacle, whichcomprises: a conducting wire, a first reed and a second reed; wherein,the first reed, being arranged on a front bumper of the autonomousmobile system, further comprises a first conducting part, electricallyconnected to an end of the conducting wire; the second reed, beingarranged on a base of the autonomous mobile system, further comprises asecond conducting part, electrically connected to another end of theconducting wire other than that connecting to the first conducting part.As the autonomous mobile system collides with the obstacle, a reactiveforce will be generated to force the front bumper to press the firstreed while causing the two conducting parts to contact with each otherso as to enable an electrical conduction for issuing an electricalsignal to the control unit of the autonomous mobile system and thusenabling the autonomous mobile system to react with respect to thecollision.

Preferably, a voltage source and a resistor are connected to theconducting wire.

Preferably, an end of the first reed is connected to a side of aninsulating plate while another side of the insulating plate is connectedto an end of the second reed.

Preferably, the reaction performed by the autonomous mobile system canbe one of the following actions: stopping the moving of the autonomousmobile system, enabling the autonomous mobile system to turn and head ina random direction, and the like.

In addition, the present invention provides further another obstacledetection device, adapted for detecting whether an autonomous mobilesystem is colliding with an obstacle, which comprises: a conductingwire, a spring and a limit switch; wherein, the two ends of the springare respectively affixed to a front bumper and a frame of the autonomousmobile system; the limit switch is arranged at the frame of theautonomous mobile system while connecting the two ends of the limitswitch respectively to the two ends of the conducting wire. As theautonomous mobile system collides with the obstacle, a reactive forcewill be generated by the spring to force the front bumper to press areed of the limit switch so as to enable an electrical conduction of thelimit switch and thus enable the limit switch to issue an electricalsignal to the control unit of the autonomous mobile system and thusenabling the autonomous mobile system to react with respect to thecollision.

Preferably, a voltage source and a resistor are arranged at theconducting wire.

Preferably, two protrusions are respectively arranged at the two ends ofthe inner side of the front bumper for enabling the two to press uponthe reed of the limit switch so as to activate the electrical conductionof the limit switch.

Preferably, the reaction performed by the autonomous mobile system canbe one of the following actions: stopping the moving of the autonomousmobile system, enabling the autonomous mobile system to turn and head ina random direction, and the like.

Furthermore, to achieve the above object, the present invention providesyet another obstacle detection device, adapted for detecting whether anautonomous mobile system is missing a step, which comprises: aconducting wire, a telescopic rod and a sensing seat; wherein, thetelescopic rod, being arranged on a base of the autonomous mobilesystem, further comprises a first conducting part, electricallyconnected to an end of the conducting wire while being coupled to aroller of the autonomous mobile system so as to be driven to movethereby; the sensing seat, being arranged on a frame of the autonomousmobile system, further comprises a second conducting part, electricallyconnected to another end of the conducting wire other than thatconnecting to the first conducting part. As the autonomous mobile systemmisses a step enabling the roller to hang in the air, the a telescopicrod is enabled to extend causing the two conducting parts to contactwith each other so as to enable an electrical conduction for issuing anelectrical signal to the control unit of the autonomous mobile systemand thus enabling the autonomous mobile system to react with respect tothe missing of step.

Preferably, a voltage source and a resistor are connected to theconducting wire.

Preferably, a spring is arranged surrounding the telescopic rod in amanner that the first conducting part is separated from the secondconducting part for breaking the electrical conduction between the twoas the spring is being pressed by a pressing force, and the firstconducting part is driven to contact with the second conducting part forenabling the electrical conduction as the spring is relieved from thepressing force, wherein the spring can be an article selected from thegroup consisting of a compression spring, a tension spring, a platespring, and a torsion spring.

Preferably, the reaction performed by the autonomous mobile system canbe one of the following actions: enabling the autonomous mobile systemto start moving backward, enabling the autonomous mobile system to turnand head in a random direction, and the like.

In addition, the present invention provides yet another obstacledetection device, adapted for detecting whether an autonomous mobilesystem is missing a step, which comprises: a conducting wire, a springand a limit switch; wherein, the two ends of the spring are respectivelyaffixed to a front bumper and a frame of the autonomous mobile system;the limit switch is arranged at the frame of the autonomous mobilesystem while connecting the two ends of the limit switch respectively tothe two ends of the conducting wire. As the autonomous mobile systemcollides with the obstacle, a reactive force will be generated by thespring to force the front bumper to press a reed of the limit switch soas to enable an electrical conduction of the limit switch and thusenable the limit switch to issue an electrical signal to the controlunit of the autonomous mobile system and thus enabling the autonomousmobile system to react with respect to the collision.

Preferably, a voltage source and a resistor are arranged at theconducting wire.

Preferably, two protrusions are respectively arranged at the two ends ofthe inner side of the front bumper for enabling the two to press uponthe reed of the limit switch so as to activate the electrical conductionof the limit switch.

Preferably, the reaction performed by the autonomous mobile system canbe one of the following actions: stopping the moving of the autonomousmobile system, enabling the autonomous mobile system to turn and head ina random direction, and the like.

Other aspects and advantages of the present invention will becomeapparent from the following detailed description, taken in conjunctionwith the accompanying drawings, illustrating by way of example theprinciples of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram showing a robotic vacuum cleaner disclosedin TW Pat. No. 1220383.

FIG. 2 is a schematic diagram showing an autonomous cleaning robot,disclosed in U.S. Pub. No. 20050251292.

FIG. 3 is a schematic diagram showing an obstacle detection device of anautonomous mobile system according to a first preferred embodiment ofthe invention.

FIG. 4 is a top view of the obstacle detection device of FIG. 3, whereasthe obstacle detection device is arranged inside the autonomous mobilesystem.

FIG. 5 is a schematic diagram showing an obstacle detection device of anautonomous mobile system according to a second preferred embodiment ofthe invention.

FIG. 6 is a top view of the obstacle detection device of FIG. 5, whereasthe obstacle detection device is arranged inside the autonomous mobilesystem.

FIG. 7 is a schematic diagram showing an obstacle detection device of anautonomous mobile system according to a third preferred embodiment ofthe invention.

FIG. 8 is a front view of the obstacle detection device of FIG. 7,whereas the obstacle detection device is arranged inside the autonomousmobile system.

FIG. 9 is a schematic diagram showing an obstacle detection device of anautonomous mobile system according to a fourth preferred embodiment ofthe invention.

FIG. 10 is a schematic diagram showing an obstacle detection device ofan autonomous mobile system according to a fifth preferred embodiment ofthe invention.

FIG. 11 is a schematic diagram showing an obstacle detection device ofan autonomous mobile system according to a sixth preferred embodiment ofthe invention.

DESCRIPTION OF THE PREFERRED EMBODIMENT

For your esteemed members of reviewing committee to further understandand recognize the fulfilled functions and structural characteristics ofthe invention, several preferable embodiments cooperating with detaileddescription are presented as the follows.

Please refer to FIG. 3 and FIG. 4, which are respectively a schematicdiagram showing an obstacle detection device of an autonomous mobilesystem according to a first preferred embodiment of the invention, and atop view of the obstacle detection device of FIG. 3. In FIG. 4, twoobstacle detection devices 31, used for collision detection, arearranged inside the frame 32 of an autonomous mobile system 3, while twofront bumpers 33 are arranged at the outer side the frame 32 and twobases 34 are arranged at the lower portion of the frame 32, all atpositions corresponding to the two obstacle detection devices 31 inrespective. As seen in FIG. 3, each obstacle detection device 31 iscomprised of a first conducting wire 311, a pin 312, a conducting plate313, a pin bearer 314 and a first spring 315. The pin 312 is attached toit corresponding front bumper 33 in a manner that it can be driven tomove thereby; and the conducting plate 313 is fixed to it correspondingbase 34. There are a first voltage source 3111 and a first resistor 3112serially connected to the first conducting wire 311, while an end of thefirst conducting wire 311 is connected to a first conducting part 3121of the pin and another end of the first conducting wire 311 is connectedto a second conducting part 3131 of the conducting plate 313. The pinbearer 314 is fixed to the base 34, which has a pin hole 3141 boringthrough the pin bearer 314 for receiving the pin 312 while enabling thepin 312 to move reciprocatively therein. Moreover, the second conductingpart 3131 is aligned to the pin hole 3141 so that when the pin 312 isinserted into the pin hole 3141, the first conducting part 3121 can comeinto contact with the second conducting part 3131 so as to enable anelectrical conduction. In addition, the first spring 315 is arranged ata location between the pin 312 and the conducting plate 313 while beingarranged inside the pin hole 3141 for ensheathing the pin 312 as the pin312 is inserted therein, such that the first conducting part 3121 isseparated from the second conducting part 3131 for breaking theelectrical conduction between the two as the pin 312 is relieved from anexternal force and being push to exit the pin hole 3141 by the firstspring 315. In an exemplary embodiment, the frame 32 can be composed ofa shell and a chassis, and the shell and the chassis can be integrallyformed, however it is not limited thereby.

As each front bumper 33 is arranged at the outer side of the frame 32,it is exposed in a manner that it can come into contact directly with anobstacle. Therefore, as the autonomous mobile system 3 is colliding toan obstacle, the force caused by the collision will force the frontbumper 33 to press against the pin 312 which further compresses thefirst spring 315 to an extend that the first conducting part 3121 iscoming into contact with the second conducting part 3131 so as to enablean electrical conduction for issuing an electrical signal to the controlunit 35 of the autonomous mobile system 3 for enabling the autonomousmobile system 3 to react with respect to the collision, such as turn orstop, and thus freeing the autonomous mobile system 3 from the block ofthe obstacle. As soon as the autonomous mobile system 3 is freed formthe obstacle, the elastic force of the compressed first spring 315 willforce the pin 312 as well as the front bumper to return to theiroriginal positions, and thus the first conducting part 3121 is separatedfrom the second conducting part 3131 such that the electrical conductionis broken for enabling the control unit 35 to act accordingly, such asdirecting the autonomous mobile system 3 to resume normal operation. Inthis embodiment, since the pin 312 is not electrical conductive, a firstconducting part 3121 made of a conductive material must be arranged onthe pin 312 at a position corresponding to the second conducting part3131, however, the configuration of the pin 312 is not limited thereby.It is noted that if the pin 312 is made of a conductive material, thereis no need to form the first conducting part 3121 there on any more.

However, it is possible to configure a buffering plate 39 on the frame32 of the autonomous mobile system 3 at a position in front of the frontbumpers 33, as the one shown in the embodiment of FIG. 11, which can bea curved plate covering almost all the front half of the autonomousmobile system 3 while shielding the two front bumpers 33 therewith. Itis noted that the front bumpers 33 can be integrally formed with thebuffering plate 39 or attached directly to the buffering plate 39 in amanner that each front bumper 33 can be considered as a component of thebuffering plate 39. By the disposition of the buffering plate 39, whenthe autonomous mobile system 3 collides with an obstacle at its rightfront end, the buffering plate 39 will be pressed by the collision andthus exert a larger reaction force on the front bumper 33 that isdisposed at the right front end of the autonomous mobile system 3 and asmaller reaction force on the front bumper 33 that is disposed at theleft front end of the autonomous mobile system 3, so that the controlunit 35 will direct the autonomous mobile system 3 to turn left; andwhen the autonomous mobile system 3 collides with an obstacle at itsleft front end, the front bumper 33 at the left will subject to a largerreaction force from the buffering plate comparing to the smaller forceexerted on the right front bumper so that the control unit 35 willdirect the autonomous mobile system 3 to turn right; and when theautonomous mobile system 3 collides with an obstacle head on, the twofront bumpers 33 will receive almost the same reaction forces from thebuffering plate 39 so that control unit 35 will direct the autonomousmobile system 3 to back off for a specific distance.

Please refer to FIG. 5 and FIG. 6, which are respectively a schematicdiagram showing an obstacle detection device of an autonomous mobilesystem according to a second preferred embodiment of the invention, anda top view of the obstacle detection device of FIG. 5. In FIG. 6, twoobstacle detection devices 36, used for collision detection, arearranged inside the frame 32 of an autonomous mobile system 3, while twofront bumpers 33 are arranged at the outer side the frame 32 and twobases 34 are arranged at the lower portion of the frame 32, all atpositions corresponding to the two obstacle detection devices 36 inrespective. Similarly, the frame 32 can be composed of a shell and achassis, and the shell and the chassis can be integrally formed, howeverit is not limited thereby. As seen in FIG. 5, each obstacle detectiondevice 36 is comprised of a second conducting wire 361, a first reed362, a second reed 363, and an insulating plate 364. The first reed 362is attached to it corresponding front bumper 33 in a manner that it canbe driven to move thereby; and the second reed 363 is fixed to itcorresponding base 34. Moreover, an end of the first reed 362 isconnected to the insulating plate 364 and another end thereof isconfigured with a third conducting part 3621, while an end of the secondreed 363 is connected to the insulating plate 364 and another endthereof is configured with a fourth conducting part 3631. There are asecond voltage source 3611 and a second resistor 3612 serially connectedto the second conducting wire 361, while an end of the second conductingwire 361 is connected to the third conducting part 3621 and another endof the second conducting wire 361 is connected to a fourth conductingpart 3631.

Similarly, as each front bumper 33 is arranged at the outer side of theframe 32, it is exposed in a manner that it can come into contactdirectly with an obstacle. Therefore, as the autonomous mobile system 3is colliding to an obstacle, the force caused by the collision willforce the front bumper 33 to press against the first reed 362 to anextend that the third conducting part 3621 is driven to come intocontact with the fourth conducting part 3631 so as to enable anelectrical conduction for issuing an electrical signal to the controlunit 35 of the autonomous mobile system 3 for enabling the autonomousmobile system 3 to react with respect to the collision, such as turn orstop, and thus freeing the autonomous mobile system 3 from the block ofthe obstacle. As soon as the autonomous mobile system 3 is freed formthe obstacle, the resilience of the first reed 362 and the second reed363 will force the third conducting part 3621 to separate from thefourth conducting part 3631 such that the electrical conduction isbroken for enabling the control unit 35 to act accordingly, such asdirecting the autonomous mobile system 3 to resume normal operation.

Similarly, it is possible to configure a buffering plate 39 on the frame32 of the autonomous mobile system 3 at a position in front of the frontbumpers 33, as the one shown in the sixth embodiment of FIG. 11, whichcan be a curved plate covering almost all the front half of theautonomous mobile system 3 while shielding the two front bumpers 33therewith. It is noted that the front bumpers 33 can be integrallyformed with the buffering plate 39 or attached directly to the bufferingplate 39 in a manner that each front bumper 33 can be considered as acomponent of the buffering plate 39. By the disposition of the bufferingplate 39, when the autonomous mobile system 3 collides with an obstacleat its right front end, the buffering plate 39 will be pressed by thecollision and thus exert a larger reaction force on the front bumper 33that is disposed at the right front end of the autonomous mobile system3 and a smaller reaction force on the front bumper 33 that is disposedat the left front end of the autonomous mobile system 3, so that thecontrol unit 35 will direct the autonomous mobile system 3 to turn left;and when the autonomous mobile system 3 collides with an obstacle at itsleft front end, the front bumper 33 at the left will subject to a largerreaction force from the buffering plate comparing to the smaller forceexerted on the right front bumper so that the control unit 35 willdirect the autonomous mobile system 3 to turn right; and when theautonomous mobile system 3 collides with an obstacle head on, the twofront bumpers 33 will receive almost the same reaction forces from thebuffering plate 39 so that control unit 35 will direct the autonomousmobile system 3 to back off for a specific distance.

Please refer to FIG. 7 and FIG. 8, which are respectively a schematicdiagram showing an obstacle detection device of an autonomous mobilesystem according to a second preferred embodiment of the invention, anda top view of the obstacle detection device of FIG. 7. In FIG. 8, twoobstacle detection devices 37, used for detecting a missing of step, arearranged inside the frame 32 of an autonomous mobile system 3, while twobases 34 are arranged onto the frame 32 at positions corresponding tothe two obstacle detection devices 37 in respective. As seen in FIG. 7,each obstacle detection device 37 is comprised of a third conductingwire 371, a telescopic rod 372, a sensing seat 373, and a second spring374. The telescopic rod 372, composed of an inner tube and an outertube, is attached to it corresponding base 38 by one end thereof whileenabling another end thereof, having a fifth conducting part 3721 formedthereon, to connect to a roller 39 of the autonomous mobile system 3 ina manner that it can be driven to move thereby; and the sensing seat 373is fixed to the frame 32, which is configured with a hole for enablingthe corresponding roller 39 to connect to the fifth conducting part 3721therethrough. It is noted that the frame 32 can be composed of a shelland a chassis, and the shell and the chassis can be integrally formed,however it is not limited thereby. Moreover, the second spring 374 isarranged to ensheathe the telescopic rod 372. There are a third voltagesource 3711 and a third resistor 3712 serially connected to the thirdconducting wire 371, while an end of the third conducting wire 361 isconnected to the fifth conducting part 3721 of the telescopic rod 372and another end of the third conducting wire 371 is connected to a sixconducting part 3731 formed on the sensing seat 373. It is noted that aside of the fifth conducting part 3721 is connected to an end of thetelescopic rod 372 while another side of the fifth conducting part 3721is connected to the supporting rod 391 of the roller 39.

As the autonomous mobile system 3 is moving normally on the ground, theroller 39 carrying the weight of the autonomous mobile system 3 willexert a force to compress the second spring 374 to an extend that thefifth conducting part 3721 is separated from the six conducting part3731 and thus an electrical conduction is broken. However, if the roller39 miss a step, the second spring 374 will be relieved form the forceand the elastic force of the second spring 374 will drive the telescopicrod 372 to extend and thus enable the fifth conducting part 3721 to comeinto contact with the six conducting part 3731 so as to enable anelectrical conduction for issuing an electrical signal to the controlunit 35 of the autonomous mobile system 3 for enabling the autonomousmobile system 3 to react with respect to the missing of step, such asturn or back-off, and thus preventing the autonomous mobile system 3from being damaged by falling.

Moreover, in the embodiment shown in FIG. 7 and FIG. 8, there can be atleast an idler wheel being arranged at a position behind the rollers 39of the autonomous mobile system 3 in a manner that each of the at leastone idler wheel is enabled to be raised/dropped corresponding to theextending/retracting of the telescope rod 372. That is, when theautonomous mobile system 3 is moving normally on the ground and thetelescope rod 372 is pressed to retract, each idle wheel is raisedwithout contacting to the ground; and when the autonomous mobile system3 miss a step that cause the telescope rod 372 to extend, each idlewheel will be dropped to the ground and is activated to rotate inreverse for saving the autonomous mobile system 3 from the missing stepby backing off the same. Thereby, when the autonomous mobile system 3hit a hole on the ground or comes into contact with a descending stairby that its telescope rod 372 is extended in to the hole or abuttedagainst the wall of the staircase from the missing step, the idle wheelwill be dropped to the ground for raising the autonomous mobile system 3and rotate in reverse for driving the autonomous mobile system 3 to movebackward while preventing the autonomous mobile system 3 from beingblocked by the releasing the extended telescope rod 372 from thetrapping of the hole or the blocking of the staircase wall.

Please refer to FIG. 9, which is a schematic diagram showing an obstacledetection device of an autonomous mobile system according to a fourthpreferred embodiment of the invention. In FIG. 9, two obstacle detectiondevices 40, used for collision detection, are arranged inside the frame32 of an autonomous mobile system 3, while a front bumpers 41, beingarranged at the outer side the frame 32, is structured to have each ofthe two inner end of the front bumper 41 to be fitted with a spring 42and a protrusion 43. Similarly, the frame 32 can be composed of a shelland a chassis, and the shell and the chassis can be integrally formed,however it is not limited thereby. In Addition, each of the two obstacledetection devices 40 is further comprised of a fourth conducting wire401 and a limit switch 44, whereas a fourth voltage source 4011 and afourth resistor 4012 are arranged at the fourth conducting wire 401.

As the front bumper 41 is arranged at the outer side of the frame 32, itis exposed in a manner that it can come into contact directly with anobstacle. Therefore, as the autonomous mobile system 3 is colliding toan obstacle, the force caused by the collision will force the frontbumper 41 to press against the spring 42 to an extend that theprotrusion 43 will press on the limit switch 44 for enabling theelectric conduction of the limit switch 44 and thus forming an electriccircuit. By the electric circuit, an electric signal is transmitted tothe control unit 35 for enabling the autonomous mobile system 3 to reactwith respect to the collision, such as turn or stop, and thus freeingthe autonomous mobile system 3 from the block of the obstacle. As soonas the autonomous mobile system 3 is freed form the obstacle, theresilience of the spring 42 will cause the spring 42 to resume itsoriginal status so that the limit switch 44 is deactivated and theelectric circuit is broken for enabling the control unit 35 to actaccordingly, such as directing the autonomous mobile system 3 to resumenormal operation.

Please refer to FIG. 10, which is a schematic diagram showing anobstacle detection device of an autonomous mobile system according to afifth preferred embodiment of the invention. In FIG. 10, three photointerrupters 46, used for detecting a missing of step, are respectivelyarranged at positions of the frame 32 corresponding to the middle front,the front left and the front right thereof. In Addition, a fifth voltagesource 4611 and a fifth resistor 4612 are arranged at a fifth conductingwire 461 whereas the two end of the fifth conducting wire arerespectively connected to the two ends of the photo interrupters 46.

As the autonomous mobile system 3 is moving normally on the ground andis missing a step, the missing of step will be detected by the photointerrupters 46 for enabling an electric conduction and thus form anelectric circuit. By the electric circuit, an electric signal istransmitted to the control unit 35 for enabling the autonomous mobilesystem 3 to react with respect to the missing of step, such as turn orback-off, and thus preventing the autonomous mobile system 3 from beingdamaged by falling.

Similarly, in the embodiment shown in FIG. 10, there can be at least anidler wheel being arranged at a position behind the rollers 39 of theautonomous mobile system 3 in a manner that each of the at least oneidler wheel is enabled to be raised/dropped corresponding to theextending/retracting of the telescope rod 372. That is, when theautonomous mobile system 3 is moving normally on the ground and thetelescope rod 372 is pressed to retract, each idle wheel is raisedwithout contacting to the ground; and when the autonomous mobile system3 miss a step that cause the telescope rod 372 to extend, each idlewheel will be dropped to the ground and is activated to rotate inreverse for saving the autonomous mobile system 3 from the missing stepby backing off the same. Thereby, when the autonomous mobile system 3hit a hole on the ground or comes into contact with a descending stairby that its telescope rod 372 is extended in to the hole or abuttedagainst the wall of the staircase from the missing step, the idle wheelwill be dropped to the ground for raising the autonomous mobile system 3and rotate in reverse for driving the autonomous mobile system 3 to movebackward while preventing the autonomous mobile system 3 from beingblocked by the releasing the extended telescope rod 372 from thetrapping of the hole or the blocking of the staircase wall.

As the obstacle detection device shown in FIG. 7 and FIG. 10 is good fordetecting a missing of step while those obstacle detection devices shownin FIG. 3, FIG. 5 and FIG. 9 are good for collision detection, it isfeasible to integrate the aforesaid types of obstacle detection devicesinto an individual autonomous mobile system so that the autonomousmobile system is equipped with abilities of collision detection andstep-missing detection.

While the preferred embodiment of the invention has been set forth forthe purpose of disclosure, modifications of the disclosed embodiment ofthe invention as well as other embodiments thereof may occur to thoseskilled in the art. Accordingly, the appended claims are intended tocover all embodiments which do not depart from the spirit and scope ofthe invention.

1. An obstacle detection device, adapted for detecting abnormalities ofan autonomous mobile system, comprising: a conducting wire; a firstunit, arranged inside the autonomous mobile system and comprising afirst conducting part electrically connected to an end of the conductingwire; and a second unit, arranged inside the autonomous mobile system ata position corresponding to the first unit and further comprising asecond conducting part electrically connected to another end of theconducting wire other than that connecting to the first conducting part;wherein, as an abnormality, such as the autonomous mobile system comesinto contact with an obstacle, or misses a step, is happening anddetected by the obstacle detection device, a reactive force will begenerated to force the two conducting parts to contact with each otherso as to enable an electrical conduction for issuing an electricalsignal to the control unit of the autonomous mobile system and thusenabling the autonomous mobile system to react with respect to theabnormality.
 2. The obstacle detection device of claim 1, wherein avoltage source and a resistor are connected to the conducting wire. 3.The obstacle detection device of claim 1, wherein the reaction performedby the autonomous mobile system in response to the abnormality can beone action selected from the group consisting of: stopping the moving ofthe autonomous mobile system, and enabling the autonomous mobile systemto turn and head in a random direction.
 4. An obstacle detection device,adapted for detecting whether an autonomous mobile system is collidingwith an obstacle, comprising: a conducting wire, connecting to a voltagesource and a resistor; a front bumper, arranged in front of a frame ofthe autonomous mobile system; a pin, being arranged on the front bumperof the autonomous mobile system, further comprising a first conductingpart electrically connected to an end of the conducting wire; and aconducting plate, being arranged on a base of the autonomous mobilesystem, further comprising a second conducting part electricallyconnected to another end of the conducting wire other than thatconnecting to the first conducting part; wherein, as the autonomousmobile system collides with the obstacle, a reactive force will begenerated to force the front bumper to press the pin while causing thetwo conducting parts to contact with each other so as to enable anelectrical conduction for issuing an electrical signal to the controlunit of the autonomous mobile system and thus enabling the autonomousmobile system to react with respect to the collision.
 5. The obstacledetection device of claim 4, wherein the autonomous mobile system isconfigured with a buffering plate, being arranged on the autonomousmobile system at a position in front of the front bumpers and coveringalmost all the front half of the autonomous mobile system whileshielding the front bumper therewith.
 6. The obstacle detection deviceof claim 5, wherein by the disposition of the buffering plate, when theautonomous mobile system 3 fitted with at least two said obstacledetection devices is colliding with an obstacle at its right front end,the buffering plate will be pressed by the collision and thus exert alarger reaction force on the one front bumper that is disposed closer tothe right front end of the autonomous mobile system and a smallerreaction force on the one front bumper that is disposed closer to theleft front end of the autonomous mobile system, so that the control unitwill direct the autonomous mobile system to turn left; and when theautonomous mobile system collides with an obstacle at its left frontend, the front bumper at the left will subject to a larger reactionforce from the buffering plate comparing to the smaller force exerted onthe right front bumper so that the control unit will direct theautonomous mobile system to turn right; and when the autonomous mobilesystem collides with an obstacle head on, the two front bumpers willreceive almost the same reaction forces from the buffering plate so thatcontrol unit will direct the autonomous mobile system to back off for aspecific distance.
 7. The obstacle detection device of claim 5, whereinthe front bumper is formed in a manner selected from the groupconsisting: it is integrally formed with the buffering plate; it isattached directly to the buffering plate.
 8. The obstacle detectiondevice of claim 4, wherein a pin bearer, having a pin hole boringtherethrough for receiving the pin, is arranged at a position betweenthe pin and the conducting plate
 9. The obstacle detection device ofclaim 8, wherein the first conducting part of the pin is enabled to movereciprocatively inside the pin hole while the pin is inserted into thepin hole, and the second conducting part of the base is aligned to thepin hole for enabling the first conducting part can be moved to comeinto contact with the second conducting part.
 10. The obstacle detectiondevice of claim 4, wherein a spring is arranged between the pin and theconducting plate in a manner that the elastic force of the spring can beused for enabling the pin to move reciprocatively.
 11. The obstacledetection device of claim 10, wherein the spring is an article selectedfrom the group consisting of a compression spring, a tension spring, aplate spring, and a torsion spring.
 12. The obstacle detection device ofclaim 4, wherein the reaction performed by the autonomous mobile systemin response to the collision can be one action selected from the groupconsisting of: stopping the moving of the autonomous mobile system, andenabling the autonomous mobile system to turn and head in a randomdirection.
 13. An obstacle detection device, adapted for detectingwhether an autonomous mobile system is colliding with an obstacle,comprising: a conducting wire, connecting to a voltage source and aresistor; a front bumper, arranged in front of a frame of the autonomousmobile system; a first reed, being arranged on the front bumper of theautonomous mobile system, further comprising a first conducting partelectrically connected to an end of the conducting wire; and a secondreed, being arranged on a base of the autonomous mobile system, furthercomprising a second conducting part electrically connected to anotherend of the conducting wire other than that connecting to the firstconducting part; wherein, as the autonomous mobile system collides withthe obstacle, a reactive force will be generated to force the frontbumper to press the first reed while causing the two conducting parts tocontact with each other so as to enable an electrical conduction forissuing an electrical signal to the control unit of the autonomousmobile system and thus enabling the autonomous mobile system to reactwith respect to the collision.
 14. The obstacle detection device ofclaim 13, wherein the autonomous mobile system is configured with abuffering plate, being arranged on the autonomous mobile system at aposition in front of the front bumpers and covering almost all the fronthalf of the autonomous mobile system while shielding the front bumpertherewith.
 15. The obstacle detection device of claim 14, wherein by thedisposition of the buffering plate, when the autonomous mobile system 3fitted with at least two said obstacle detection devices is collidingwith an obstacle at its right front end, the buffering plate will bepressed by the collision and thus exert a larger reaction force on theone front bumper that is disposed closer to the right front end of theautonomous mobile system and a smaller reaction force on the one frontbumper that is disposed closer to the left front end of the autonomousmobile system, so that the control unit will direct the autonomousmobile system to turn left; and when the autonomous mobile systemcollides with an obstacle at its left front end, the front bumper at theleft will subject to a larger reaction force from the buffering platecomparing to the smaller force exerted on the right front bumper so thatthe control unit will direct the autonomous mobile system to turn right;and when the autonomous mobile system collides with an obstacle head on,the two front bumpers will receive almost the same reaction forces fromthe buffering plate so that control unit will direct the autonomousmobile system to back off for a specific distance.
 16. The obstacledetection device of claim 14, wherein the front bumper is formed in amanner selected from the group consisting: it is integrally formed withthe buffering plate; it is attached directly to the buffering plate. 17.The obstacle detection device of claim 13, wherein an end of the firstreed is connected to a side of an insulating plate while another side ofthe insulating plate is connected to an end of the second reed.
 18. Theobstacle detection device of claim 13, wherein the reaction performed bythe autonomous mobile system in response to the collision can be oneaction selected from the group consisting of: stopping the moving of theautonomous mobile system, and enabling the autonomous mobile system toturn and head in a random direction.
 19. An obstacle detection device,adapted for detecting whether an autonomous mobile system is collidingwith an obstacle, comprising: a conducting wire, connecting to a voltagesource and a resistor; a spring, having two ends thereof respectivelyaffixed to a front bumper and a frame of the autonomous mobile system;and a limit switch, being arranged at the frame of the autonomous mobilesystem while connecting the two ends thereof respectively to two ends ofthe conducting wire; wherein, as the autonomous mobile system collideswith the obstacle, a reactive force will be generated by the spring toforce two protrusions respectively arranged at the two ends of the innerside of the front bumper to press a reed of the limit switch so as toenable an electrical conduction of the limit switch and thus enable thelimit switch to issue an electrical signal to the control unit of theautonomous mobile system for enabling the autonomous mobile system tostop moving backward or turn and head in a random direction.
 20. Anobstacle detection device, adapted for detecting whether an autonomousmobile system is missing a step, comprising: a conducting wire,connecting to a voltage source and a resistor; a telescopic rod, beingarranged on a base of the autonomous mobile system, further comprising afirst conducting part electrically connected to an end of the conductingwire while being coupled to a roller of the autonomous mobile system soas to be driven to move thereby; and a sensing seat, being arranged on aframe of the autonomous mobile system, further comprising a secondconducting part electrically connected to another end of the conductingwire other than that connecting to the first conducting part; wherein,as the autonomous mobile system misses a step enabling the roller tohang in the air, the a telescopic rod is enabled to extend causing thetwo conducting parts to contact with each other so as to enable anelectrical conduction for issuing an electrical signal to the controlunit of the autonomous mobile system and thus enabling the autonomousmobile system to react with respect to the missing of step.
 21. Theobstacle detection device of claim 20, further comprising: at least anidler wheel, each being arranged at a position behind the rollers of theautonomous mobile system in a manner that each of the at least one idlerwheel is enabled to be raised/dropped corresponding to theextending/retracting of the telescope rod, thereby, when the autonomousmobile system is moving normally on the ground and the telescope rod ispressed to retract, each idle wheel is raised without contacting to theground; and when the autonomous mobile system miss a step that cause thetelescope rod to extend, each idle wheel will be dropped to the groundand is activated to rotate in reverse for saving the autonomous mobilesystem from the missing step by backing off the same.
 22. The obstacledetection device of claim 20, wherein a spring is arranged surroundingthe telescopic rod.
 23. The obstacle detection device of claim 22,wherein the spring is an article selected from the group consisting of acompression spring, a tension spring, a plate spring, and a torsionspring.
 24. The obstacle detection device of claim 20, wherein thereaction performed by the autonomous mobile system can be one actionselected from the group consisting of: enabling the autonomous mobilesystem to start moving backward, and enabling the autonomous mobilesystem to turn and head in a random direction.
 25. The obstacledetection device of claim 22, wherein the first conducting part isseparated from the second conducting part for breaking the electricalconduction between the two as the spring is being pressed by a pressingforce, and the first conducting part is driven to contact with thesecond conducting part for enabling the electrical conduction as thespring is relieved from the pressing force.
 26. An obstacle detectiondevice, adapted for detecting whether an autonomous mobile system ismissing a step, comprising: a conducting wire, connecting to a voltagesource and a resistor; and a photo interrupter, arranged at the front ofa frame of the autonomous mobile system while connecting the two endsthereof respectively to two ends of the conducting wire; wherein, as theautonomous mobile system is missing a step, the photo interrupter isactivated and electrically conducted for enabling the same to issue anelectric signal to a control unit of the autonomous mobile system andthus enabling the autonomous mobile system to start moving backward orturn and head in a random direction.
 27. The obstacle detection deviceof claim 26, further comprising: at least an idler wheel, each beingarranged at a position behind the rollers of the autonomous mobilesystem in a manner that each of the at least one idler wheel is enabledto be raised/dropped corresponding to the extending/retracting of thetelescope rod, thereby, when the autonomous mobile system is movingnormally on the ground and the telescope rod is pressed to retract, eachidle wheel is raised without contacting to the ground; and when theautonomous mobile system miss a step that cause the telescope rod toextend, each idle wheel will be dropped to the ground and is activatedto rotate in reverse for saving the autonomous mobile system from themissing step by backing off the same.